﻿using System;
using System.Collections.Generic;
using System.Collections;
using System.Text;
using Microsoft.Xna.Framework;


    struct RigidBody
    {
        public int numberOfPolygons;
        public Polygon[] polygonArray;

        public float totalMass;
        public Vector3 centerOfMass;
        public Matrix3 inertiaTensorInverse;
        public float density;
        public Vector3 position;
        public Matrix3 rotation;
        public Vector3 linearMomentum;
        public Vector3 angularMomentum;
        public Vector3 torque;
        public Vector3 totalForce;
        public Matrix3 oldRotation;
        public Vector3 oldLinearMomentum;
        public Vector3 oldAngularMomentum;
        public Vector3 oldPosition;
        public Vector3 angularVelocity;
        public Boolean stationary;
        public Vector3 normalForce;

        public float height;
        public float width;
        public float depth;

    }

